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master's thesis
Usklađeno dvoručno robotsko sklapanje
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. urn:nbn:hr:235:706912
Šarić, Ante
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Šarić, A. (2015). Usklađeno dvoručno robotsko sklapanje (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:706912

Šarić, Ante. "Usklađeno dvoručno robotsko sklapanje." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:706912

Šarić, Ante. "Usklađeno dvoručno robotsko sklapanje." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:706912

Šarić, A. (2015). 'Usklađeno dvoručno robotsko sklapanje', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:706912

Šarić A. Usklađeno dvoručno robotsko sklapanje [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2015 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:706912

A. Šarić, "Usklađeno dvoručno robotsko sklapanje", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:235:706912

Metadata
TitleUsklađeno dvoručno robotsko sklapanje
Title (english)Coordinated dual-arm assembly
AuthorAnte Šarić
MentorBojan Jerbić (mentor)
MentorZdenko Kovačić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2015-12-03, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu će se obraditi regulacija dva industrijska robota preko TCP/IP protokola pomoću diskretnog PID regulatora koji omogućava montažu u pokretu. Prvo se tražilo vrijeme diskretizacije za regulator koje je dobiveno mjerenjem kašnjenja slanja podatka preko TCP/IP-a. Sustav zbog velikog kašnjenja dobivanja podataka i brzine kretanja robota nije previše pogodan za PID regulaciju. Sustav se testirao s tri vrste regulatora (PI, PD, PID) na brzini od 50 mm/s i na kraju je odabran najoptimalniji regulator (PID) za daljnja testiranja pri većim brzinama. Iako sustav ima preveliko kašnjenje pri malim brzinama kretanja master robota (50 mm/s) regulator se pokazao dovoljno točnim i stabilnim da bi se proces spajanja mogao izvesti, što je i demonstrirano u radu. Nakon toga se izvršio proces nezavisnog mjerenja rezultata preko vizijskog sustava za utvrđivanje stvarne greške sustava i demonstracija spajanja s realnim objektima.
Abstract (english)
Abstract – In this paper the control of industrial robots with discrete PID controller over TCP/IP protocol for purposes of assembly in motion is shown. First discretization time is found for controller which is acquired by measuring delay of the signal over TCP/IP. Because of large latency of the combination it is shown that it's not very suitable for PID control. The system has then been tested with three controllers (PI, PD, PID) and in the end the most optimal controller has been chosen for further testing at higher speeds. Although the system has large latency on smaller motion speeds of master robots (50 mm/s) the controller has been show to be precise and stable enough for the process of assembly to be completed. After that the proces of independent measurement using vision system has been done and the demonstration assembly with real object has been demonstrated.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:706912
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 15:01:59